#include <termios.h>
#include "ros/ros.h"
#include "config.h"
#include "std_msgs/String.h" 
#include <signal.h>
#include <boost/thread/thread.hpp>  
#include "Modbus_Deal.h"
#include <geometry_msgs/Twist.h>  

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/poll.h>
#include <ros/ros.h>
#include <chassis.h>

int main(int agrc,char **argv)
{
    ros::init(agrc,argv,"modbus_node");
    ros::NodeHandle nh;

    SmartCarKeyboardTeleopNode tbk;
   
	/* 创建一个新的线程 */
    boost::thread t = boost::thread(boost::bind(&SmartCarKeyboardTeleopNode::keyboardLoop, &tbk));
    ros::spin();
    ros::Rate loop_rate(10);

    //串口初始化
    serialInit();

    return 0;
}




